Realization of Guiding a Tractor to Implement Positions

Abstract

In this paper, the nonholonomic system control of feed forward control and feedback control combination was designed to realize guidance of a tractor to implement position. The designed control was used to guide the tractor to the implement position. To increase the guidance precision, a two-step control method is proposed. The guidance trajectory was computed to meet the limiting condition for maximum steering angle. The effectiveness of the guidance controller was confirmed with the computer simulation and it showed that the guidance system could guide the agricultural robot successfully on the asphalt road at a speed of 0.5m/s. At the implement position, the lateral deviation and heading angle error of the tractor were 0.03m and -1.09° respectively.